from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        # 启动点云生成节点
        Node(
            package='cable_simulator',
            executable='cable_sim',
            name='cable_pointcloud_simulator',
            output='screen',
            parameters=[
                # 可在这里添加参数配置（可选）
                {'cable_length': 10.0},
                {'swing_angle_theta':20.0},
                {'swing_angle_phi': 30.0},
                {'noise_level': 0.05}
            ]
        ),
        
        # 启动点云可视化节点
        Node(
            package='cable_simulator',
            executable='pointcloud_vis',
            name='pointcloud_visualizer',
            output='screen'
        )
    ])
